Year: 2025
Type: preprint
Abstract: Collision-free motion is a fundamental requirement for many autonomous systems. This paper develops a safety-critical control approach for the collision-free navigation of polytope-shaped agents in polytope-shaped environments. A systematic method is proposed to generate control barrier function candidates in closed form that lead to controllers with formal safety guarantees. The proposed approach is demonstrated through simulation, with obstacle avoidance examples in 2D and 3D, including dynamically changing environments.
Source: arXiv (Cornell University)
Author: Molnar, Tamas G.
Language: English
Subfield: Computer Vision and Pattern Recognition
Field: Computer Science
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W6979318507
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